OpenRaiser/Intern-Atlas huggingface dataset:
A study and comparison of COordinate Rotation DIgital Computer (CORDIC) architectures
Venue: arXiv cs.AR 2022
Year: 2022

Most of the digital signal processing applications performs operations like multiplication, addition, square-root calculation, solving linear equations etc. The physical implementation of these operations consumes a lot of hardware and, software implementation consumes large memory. Even if they are implemented in hardware, they do not provide high speed, and due to this reason, even today the software implementation dominates hardware. For realizing operations from basic to very complex ones with less hardware, a Co-ordinate Rotation Digital Computer (CORDIC) proves beneficial. It is capable of performing mathematical operations right from addition to highly complex functions with the help of arithmetic unit and shifters only. This paper gives a brief overview of various existing CORDIC architectures, their working principle, application domain and a comparison of these architectures. Different designs are available as per the target, i.e. high accuracy and precision, low area, low latency, hardware efficient, low power, reconfigurability, etc. that can be used as per the application in which the architecture needs to be employed.
Efficient Global Occupancy Mapping for Mobile Robots using OpenVDB
Venue: arXiv cs.RO 2022
Year: 2022

In this work we present a fast occupancy map building approach based on the VDB datastructure. Existing log-odds based occupancy mapping systems are often not able to keep up with the high point densities and framerates of modern sensors. Therefore, we suggest a highly optimized approach based on a modern datastructure coming from a computer graphic background. A multithreaded insertion scheme allows occupancy map building at unprecedented speed. Multiple optimizations allow for a customizable tradeoff between runtime and map quality. We first demonstrate the effectiveness of the approach quantitatively on a set of ablation studies and typical benchmark sets, before we practically demonstrate the system using a legged robot and a UAV.
Determining Accessible Sidewalk Width by Extracting Obstacle Information from Point Clouds
Venue: arXiv cs.CV 2022
Year: 2022

Obstacles on the sidewalk often block the path, limiting passage and resulting in frustration and wasted time, especially for citizens and visitors who use assistive devices (wheelchairs, walkers, strollers, canes, etc). To enable equal participation and use of the city, all citizens should be able to perform and complete their daily activities in a similar amount of time and effort. Therefore, we aim to offer accessibility information regarding sidewalks, so that citizens can better plan their routes, and to help city officials identify the location of bottlenecks and act on them. In this paper we propose a novel pipeline to estimate obstacle-free sidewalk widths based on 3D point cloud data of the city of Amsterdam, as the first step to offer a more complete set of information regarding sidewalk accessibility.
Improved Pattern-Avoidance Bounds for Greedy BSTs via Matrix Decomposition
Venue: arXiv cs.DS 2022
Year: 2022

Greedy BST (or simply Greedy) is an online self-adjusting binary search tree defined in the geometric view ([Lucas, 1988; Munro, 2000; Demaine, Harmon, Iacono, Kane, Patrascu, SODA 2009). Along with Splay trees (Sleator, Tarjan 1985), Greedy is considered the most promising candidate for being dynamically optimal, i.e., starting with any initial tree, their access costs on any sequence is conjectured to be within $O(1)$ factor of the offline optimal. However, in the past four decades, the question has remained elusive even for highly restricted input. In this paper, we prove new bounds on the cost of Greedy in the ''pattern avoidance'' regime. Our new results include: The (preorder) traversal conjecture for Greedy holds up to a factor of $O(2^{α(n)})$, improving upon the bound of $2^{α(n)^{O(1)}}$ in (Chalermsook et al., FOCS 2015). This is the best known bound obtained by any online BSTs. We settle the postorder traversal conjecture for Greedy. The deque conjecture for Greedy holds up to a factor of $O(α(n))$, improving upon the bound $2^{O(α(n))}$ in (Chalermsook, et al., WADS 2015). The split conjecture holds for Greedy up to a factor of $O(2^{α(n)})$. Key to all these results is to partition (based on the input structures) the execution log of Greedy into several simpler-to-analyze subsets for which classical forbidden submatrix bounds can be leveraged. Finally, we show the applicability of this technique to handle a class of increasingly complex pattern-avoiding input sequences, called $k$-increasing sequences. As a bonus, we discover a new class of permutation matrices whose extremal bounds are polynomially bounded. This gives a partial progress on an open question by Jacob Fox (2013).
Active Learning with Tabular Language Models
Venue: arXiv cs.CL 2022
Year: 2022

Despite recent advancements in tabular language model research, real-world applications are still challenging. In industry, there is an abundance of tables found in spreadsheets, but acquisition of substantial amounts of labels is expensive, since only experts can annotate the often highly technical and domain-specific tables. Active learning could potentially reduce labeling costs, however, so far there are no works related to active learning in conjunction with tabular language models. In this paper we investigate different acquisition functions in a real-world industrial tabular language model use case for sub-cell named entity recognition. Our results show that cell-level acquisition functions with built-in diversity can significantly reduce the labeling effort, while enforced table diversity is detrimental. We further see open fundamental questions concerning computational efficiency and the perspective of human annotators.
Query-Specific Knowledge Graphs for Complex Finance Topics
Venue: arXiv cs.IR 2022
Year: 2022

Across the financial domain, researchers answer complex questions by extensively "searching" for relevant information to generate long-form reports. This workshop paper discusses automating the construction of query-specific document and entity knowledge graphs (KGs) for complex research topics. We focus on the CODEC dataset, where domain experts (1) create challenging questions, (2) construct long natural language narratives, and (3) iteratively search and assess the relevance of documents and entities. For the construction of query-specific KGs, we show that state-of-the-art ranking systems have headroom for improvement, with specific failings due to a lack of context or explicit knowledge representation. We demonstrate that entity and document relevance are positively correlated, and that entity-based query feedback improves document ranking effectiveness. Furthermore, we construct query-specific KGs using retrieval and evaluate using CODEC's "ground-truth graphs", showing the precision and recall trade-offs. Lastly, we point to future work, including adaptive KG retrieval algorithms and GNN-based weighting methods, while highlighting key challenges such as high-quality data, information extraction recall, and the size and sparsity of complex topic graphs.
Inferring Class Label Distribution of Training Data from Classifiers: An Accuracy-Augmented Meta-Classifier Attack
Venue: arXiv cs.LG 2022
Year: 2022

Property inference attacks against machine learning (ML) models aim to infer properties of the training data that are unrelated to the primary task of the model, and have so far been formulated as binary decision problems, i.e., whether or not the training data have a certain property. However, in industrial and healthcare applications, the proportion of labels in the training data is quite often also considered sensitive information. In this paper we introduce a new type of property inference attack that unlike binary decision problems in literature, aim at inferring the class label distribution of the training data from parameters of ML classifier models. We propose a method based on \emph{shadow training} and a \emph{meta-classifier} trained on the parameters of the shadow classifiers augmented with the accuracy of the classifiers on auxiliary data. We evaluate the proposed approach for ML classifiers with fully connected neural network architectures. We find that the proposed \emph{meta-classifier} attack provides a maximum relative improvement of $52\%$ over state of the art.
Designing robots with the context in mind -- One design does not fit all
Venue: arXiv cs.RO 2022
Year: 2022

Robots' visual qualities (VQs) impact people's perception of their characteristics and affect users' behaviors and attitudes toward the robot. Recent years point toward a growing need for Socially Assistive Robots (SARs) in various contexts and functions, interacting with various users. Since SAR types have functional differences, the user experience must vary by the context of use, functionality, user characteristics, and environmental conditions. Still, SAR manufacturers often design and deploy the same robotic embodiment for diverse contexts. We argue that the visual design of SARs requires a more scientific approach considering their multiple evolving roles in future society. In this work, we define four contextual layers: the domain in which the SAR exists, the physical environment, its intended users, and the robot's role. Via an online questionnaire, we collected potential users' expectations regarding the desired characteristics and visual qualities of four different SARs: a service robot for an assisted living/retirement residence facility, a medical assistant robot for a hospital environment, a COVID-19 officer robot, and a personal assistant robot for domestic use. Results indicated that users' expectations differ regarding the robot's desired characteristics and the anticipated visual qualities for each context and use case.
Active-IRS Aided Wireless Network: System Modeling and Performance Analysis
Venue: arXiv cs.IT 2022
Year: 2022

Active intelligent reflecting surface (IRS) enables flexible signal reflection control with \emph{power amplification}, thus effectively compensating the product-distance path-loss in conventional passive-IRS aided systems. In this letter, we characterize the communication performance of an active-IRS aided single-cell wireless network. To this end, we first propose a \emph{customized} IRS deployment strategy, where the active IRSs are uniformly deployed within a ring concentric with the cell to serve the users far from the base station. Next, given the Nakagami-$m$ fading channel, we characterize the cascaded active-IRS channel by using the \emph{mixture Gamma distribution} approximation and derive a closed-form expression for the mean signal-to-noise ratio (SNR) at the user averaged over channel fading. Moreover, we numerically show that to maximize the system performance, it is necessary to choose a proper active-IRS density given a fixed number of total reflecting elements, which significantly differs from the passive-IRS case for which the centralized IRS deployment scheme is better. Furthermore, the active-IRS aided wireless network achieves higher spatial throughput than the passive-IRS counterpart when the total number of reflecting elements is small.
Intelligent Surface Enabled Sensing-Assisted Communication
Venue: arXiv cs.IT 2022
Year: 2022

Vehicle-to-everything (V2X) communication is expected to support many promising applications in next-generation wireless networks. The recent development of integrated sensing and communications (ISAC) technology offers new opportunities to meet the stringent sensing and communication (S&C) requirements in V2X networks. However, considering the relatively small radar cross section (RCS) of the vehicles and the limited transmit power of the road site units (RSUs), the power of echoes may be too weak to achieve effective target detection and tracking. To handle this issue, we propose a novel sensing-assisted communication scheme by employing an intelligent Omni-surface (IOS) on the surface of the vehicle. First, a two-phase ISAC protocol, including the S&C phase and the communication-only phase, was presented to maximize the throughput by jointly optimizing the IOS phase shifts and the sensing duration. Then, we derive a closed-form expression of the achievable rate which achieves a good approximation. Furthermore, a sufficient and necessary condition for the existence of the S&C phase is derived to provide useful insights for practical system design. Simulation results demonstrate the effectiveness of the proposed sensing-assisted communication scheme in achieving high throughput with low transmit power requirements.
Gradient-enhanced deep neural network approximations
Venue: arXiv cs.LG 2022
Year: 2022

We propose in this work the gradient-enhanced deep neural networks (DNNs) approach for function approximations and uncertainty quantification. More precisely, the proposed approach adopts both the function evaluations and the associated gradient information to yield enhanced approximation accuracy. In particular, the gradient information is included as a regularization term in the gradient-enhanced DNNs approach, for which we present similar posterior estimates (by the two-layer neural networks) as those in the path-norm regularized DNNs approximations. We also discuss the application of this approach to gradient-enhanced uncertainty quantification, and present several numerical experiments to show that the proposed approach can outperform the traditional DNNs approach in many cases of interests.
FedGrad: Optimisation in Decentralised Machine Learning
Venue: arXiv cs.LG 2022
Year: 2022

Federated Learning is a machine learning paradigm where we aim to train machine learning models in a distributed fashion. Many clients/edge devices collaborate with each other to train a single model on the central. Clients do not share their own datasets with each other, decoupling computation and data on the same device. In this paper, we propose yet another adaptive federated optimization method and some other ideas in the field of federated learning. We also perform experiments using these methods and showcase the improvement in the overall performance of federated learning.
Spoofing Attack Detection in the Physical Layer with Commutative Neural Networks
Venue: arXiv cs.LG 2022
Year: 2022

In a spoofing attack, an attacker impersonates a legitimate user to access or tamper with data intended for or produced by the legitimate user. In wireless communication systems, these attacks may be detected by relying on features of the channel and transmitter radios. In this context, a popular approach is to exploit the dependence of the received signal strength (RSS) at multiple receivers or access points with respect to the spatial location of the transmitter. Existing schemes rely on long-term estimates, which makes it difficult to distinguish spoofing from movement of a legitimate user. This limitation is here addressed by means of a deep neural network that implicitly learns the distribution of pairs of short-term RSS vector estimates. The adopted network architecture imposes the invariance to permutations of the input (commutativity) that the decision problem exhibits. The merits of the proposed algorithm are corroborated on a data set that we collected.
Evaluation of Color Anomaly Detection in Multispectral Images For Synthetic Aperture Sensing
Venue: arXiv cs.CV 2022
Year: 2022

In this article, we evaluate unsupervised anomaly detection methods in multispectral images obtained with a wavelength-independent synthetic aperture sensing technique, called Airborne Optical Sectioning (AOS). With a focus on search and rescue missions that apply drones to locate missing or injured persons in dense forest and require real-time operation, we evaluate runtime vs. quality of these methods. Furthermore, we show that color anomaly detection methods that normally operate in the visual range always benefit from an additional far infrared (thermal) channel. We also show that, even without additional thermal bands, the choice of color space in the visual range already has an impact on the detection results. Color spaces like HSV and HLS have the potential to outperform the widely used RGB color space, especially when color anomaly detection is used for forest-like environments.
Heterogeneous Recurrent Spiking Neural Network for Spatio-Temporal Classification
Venue: arXiv cs.NE 2022
Year: 2022

Spiking Neural Networks are often touted as brain-inspired learning models for the third wave of Artificial Intelligence. Although recent SNNs trained with supervised backpropagation show classification accuracy comparable to deep networks, the performance of unsupervised learning-based SNNs remains much lower. This paper presents a heterogeneous recurrent spiking neural network (HRSNN) with unsupervised learning for spatio-temporal classification of video activity recognition tasks on RGB (KTH, UCF11, UCF101) and event-based datasets (DVS128 Gesture). The key novelty of the HRSNN is that the recurrent layer in HRSNN consists of heterogeneous neurons with varying firing/relaxation dynamics, and they are trained via heterogeneous spike-time-dependent-plasticity (STDP) with varying learning dynamics for each synapse. We show that this novel combination of heterogeneity in architecture and learning method outperforms current homogeneous spiking neural networks. We further show that HRSNN can achieve similar performance to state-of-the-art backpropagation trained supervised SNN, but with less computation (fewer neurons and sparse connection) and less training data.
Machine Learning-Aided Operations and Communications of Unmanned Aerial Vehicles: A Contemporary Survey
Venue: arXiv cs.RO 2022
Year: 2022

The ongoing amalgamation of UAV and ML techniques is creating a significant synergy and empowering UAVs with unprecedented intelligence and autonomy. This survey aims to provide a timely and comprehensive overview of ML techniques used in UAV operations and communications and identify the potential growth areas and research gaps. We emphasise the four key components of UAV operations and communications to which ML can significantly contribute, namely, perception and feature extraction, feature interpretation and regeneration, trajectory and mission planning, and aerodynamic control and operation. We classify the latest popular ML tools based on their applications to the four components and conduct gap analyses. This survey also takes a step forward by pointing out significant challenges in the upcoming realm of ML-aided automated UAV operations and communications. It is revealed that different ML techniques dominate the applications to the four key modules of UAV operations and communications. While there is an increasing trend of cross-module designs, little effort has been devoted to an end-to-end ML framework, from perception and feature extraction to aerodynamic control and operation. It is also unveiled that the reliability and trust of ML in UAV operations and applications require significant attention before full automation of UAVs and potential cooperation between UAVs and humans come to fruition.
Iris: Automatic Generation of Efficient Data Layouts for High Bandwidth Utilization
Venue: arXiv cs.AR 2022
Year: 2022

Optimizing data movements is becoming one of the biggest challenges in heterogeneous computing to cope with data deluge and, consequently, big data applications. When creating specialized accelerators, modern high-level synthesis (HLS) tools are increasingly efficient in optimizing the computational aspects, but data transfers have not been adequately improved. To combat this, novel architectures such as High-Bandwidth Memory with wider data busses have been developed so that more data can be transferred in parallel. Designers must tailor their hardware/software interfaces to fully exploit the available bandwidth. HLS tools can automate this process, but the designer must follow strict coding-style rules. If the bus width is not evenly divisible by the data width (e.g., when using custom-precision data types) or if the arrays are not power-of-two length, the HLS-generated accelerator will likely not fully utilize the available bandwidth, demanding even more manual effort from the designer. We propose a methodology to automatically find and implement a data layout that, when streamed between memory and an accelerator, uses a higher percentage of the available bandwidth than a naive or HLS-optimized design. We borrow concepts from multiprocessor scheduling to achieve such high efficiency.
Fairness-aware Regression Robust to Adversarial Attacks
Venue: arXiv cs.CR 2022
Year: 2022

In this paper, we take a first step towards answering the question of how to design fair machine learning algorithms that are robust to adversarial attacks. Using a minimax framework, we aim to design an adversarially robust fair regression model that achieves optimal performance in the presence of an attacker who is able to add a carefully designed adversarial data point to the dataset or perform a rank-one attack on the dataset. By solving the proposed nonsmooth nonconvex-nonconcave minimax problem, the optimal adversary as well as the robust fairness-aware regression model are obtained. For both synthetic data and real-world datasets, numerical results illustrate that the proposed adversarially robust fair models have better performance on poisoned datasets than other fair machine learning models in both prediction accuracy and group-based fairness measure.
Microprocessor Design with Dynamic Clock Source and Multi-Width Instructions
Venue: arXiv cs.AR 2022
Year: 2022

This paper introduces a novel 32-bit microprocessor, based on the RISC-V instruction set architecture, is designed,utilising a dynamic clock source to achieve high efficiency, overcoming the limitations of hardware delays. In addition, the microprocessor is also aimed to operate with both base (32-bit) instructions and 16-bit compressed instructions. The testing of the design is carried out using ModelSim with an ideal result.
Deep IMU Bias Inference for Robust Visual-Inertial Odometry with Factor Graphs
Venue: arXiv cs.RO 2022
Year: 2022

Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data integration. This error is typically modeled as a combination of additive Gaussian noise and a slowly changing bias which evolves as a random walk. In this work, we propose to train a neural network to learn the true bias evolution. We implement and compare two common sequential deep learning architectures: LSTMs and Transformers. Our approach follows from recent learning-based inertial estimators, but, instead of learning a motion model, we target IMU bias explicitly, which allows us to generalize to locomotion patterns unseen in training. We show that our proposed method improves state estimation in visually challenging situations across a wide range of motions by quadrupedal robots, walking humans, and drones. Our experiments show an average 15% reduction in drift rate, with much larger reductions when there is total vision failure. Importantly, we also demonstrate that models trained with one locomotion pattern (human walking) can be applied to another (quadruped robot trotting) without retraining.
Disclosure of a Neuromorphic Starter Kit
Venue: arXiv cs.NE 2022
Year: 2022

This paper presents a Neuromorphic Starter Kit, which has been designed to help a variety of research groups perform research, exploration and real-world demonstrations of brain-based, neuromorphic processors and hardware environments. A prototype kit has been built and tested. We explain the motivation behind the kit, its design and composition, and a prototype physical demonstration.